Term Loan - Additional Information (Details) - USD ($) $ in Thousands				6 Months Ended	12 Months Ended
	Aug. 04, 2023	Jun. 30, 2023	May 03, 2022	Jun. 30, 2023	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Proceeds from Issuance of Common Stock					$ 9,473	$ 1,778
August 4, 2023 [Member]
Debt Instrument [Line Items]
Cash reserves	$ 9,300
ATM Offering [Member] | Common Stock
Debt Instrument [Line Items]
Proceeds from Issuance of Common Stock	11,900
Term Loan
Debt Instrument [Line Items]
Proceeds from Loan Originations				$ 20,000
Net cash raised under the ATM Facility				19,400
Cash reserves		$ 1,700		1,700
May 3, 2022 [Member]
Debt Instrument [Line Items]
Debt instrument face amount			$ 60,000
Proceeds from Loan Originations			$ 40,000
Final payment and other fees		1,200
New Loan and Security Agreement [Member]
Debt Instrument [Line Items]
Debt instrument face amount		$ 20,000		$ 20,000
Accrued interest paid	200
Final payment and other fees	1,000
Repayments of Debt	$ 20,000